//ICC-AVR application builder : 2008-10-04 10:37AM
// Target : M16
// Crystal: 16Mhz
// made by akma 
// http://www.micombox.com/

#include <iom16v.h>
#include "common.h"
#include "acc.h"

#define MOTOR_PORT  PORTC
#define MOTOR_DDR       DDRC

#define SPEED_HIGH              160     // 최고속도(STEP)   
#define SPEED_START             0      // 시작속도(STEP)

word speed_limit, old_speed_limit;
word time_r,time_l;
word acc_index_r, acc_index_l;  
byte stepleft=0, stepright=0;
byte motor_arrived_left;
byte robot_forward, old_robot_forward;

void port_init(void)
{
 PORTA = 0x00;
 DDRA  = 0x00;
 PORTB = 0x00;
 DDRB  = 0x00;
 MOTOR_PORT = 0x00;
 MOTOR_DDR  = 0xff;
 PORTD = 0x00;
 DDRD  = 0x00;
}

//UART0 initialize
// desired baud rate: 9600
// actual: baud rate:9600 (0.0%)
// char size: 8 bit
// parity: Disabled
void uart0_init(void)
{
 UCSRB = 0x00; //disable while setting baud rate
 UCSRA = 0x02;
 UCSRC = BIT(URSEL) | 0x06;
 UBRRL = 0x8F; //set baud rate lo
 UBRRH = 0x00; //set baud rate hi
 UCSRB = 0x08;
}

//call this routine to initialize all peripherals
void init_devices(void)
{
 //stop errant interrupts until set up
 CLI(); //disable all interrupts
 port_init();
 uart0_init();
 
 MCUCR = 0x00;
 GICR  = 0x00;
 SEI(); //re-enable interrupts
 //all peripherals are now initialized
}

unsigned char  LeftMotor(unsigned char step, char dir)
{ 
 step = step & 0x0f;
 if(dir){
  switch(step){
   case 0x09: step=0x01; break;
   case 0x01: step=0x03; break;
   case 0x03: step=0x02; break;
   case 0x02: step=0x06; break;
   case 0x06: step=0x04; break;
   case 0x04: step=0x0c; break;
   case 0x0c: step=0x08; break;
   case 0x08: step=0x09; break;
   default: step=0x0c; break;
  }
 }else{
  switch(step){
   case 0x09: step=0x08; break;
   case 0x01: step=0x09; break;
   case 0x03: step=0x01; break;
   case 0x02: step=0x03; break;
   case 0x06: step=0x02; break;
   case 0x04: step=0x06; break;
   case 0x0c: step=0x04; break;
   case 0x08: step=0x0c; break;
   default: step=0x0c; break;
  }
 }
 return step;
}

unsigned char  RightMotor(unsigned char step, char dir)
{ 
 step = step & 0xf0;
 if(dir){
  switch(step){
   case 0x90: step=0x10; break;
   case 0x10: step=0x30; break;
   case 0x30: step=0x20; break;
   case 0x20: step=0x60; break;
   case 0x60: step=0x40; break;
   case 0x40: step=0xc0; break;
   case 0xc0: step=0x80; break;
   case 0x80: step=0x90; break;
   default: step=0xc0; break;
  }
 }else{
  switch(step){
   case 0x90: step=0x80; break;
   case 0x10: step=0x90; break;
   case 0x30: step=0x10; break;
   case 0x20: step=0x30; break;
   case 0x60: step=0x20; break;
   case 0x40: step=0x60; break;
   case 0xc0: step=0x40; break;
   case 0x80: step=0xc0; break;
   default: step=0xc0; break;
  }
 }
 return step;
}

void cal_speed_l(void)
{   
 if(speed_limit > acc_index_l)
    acc_index_l++;       
 else if(speed_limit < acc_index_l)
    acc_index_l--;       
 
// if (acc_index_l > speed_limit) acc_index_l = speed_limit;  
 time_l=acc_table[acc_index_l];

}  

void cal_speed_r(void)
{       
 if(speed_limit > acc_index_r)
    acc_index_r++;       
 else if(speed_limit < acc_index_r)
    acc_index_r--;
    
// if (acc_index_r > speed_limit) acc_index_r = speed_limit; 
   time_r=acc_table[acc_index_r];
}  

#pragma interrupt_handler timer0_ovf_isr:iv_TIM0_OVF
void timer0_ovf_isr(void)
{
 stepleft=LeftMotor(stepleft,!robot_forward); // forward
 MOTOR_PORT = stepleft|stepright; 
   cal_speed_l();
     
  TCNT0 = time_l; //reload counter value
}

#pragma interrupt_handler timer2_ovf_isr:iv_TIM2_OVF
void timer2_ovf_isr(void)
{
 stepright=RightMotor(stepright,robot_forward); // forward
 MOTOR_PORT = stepleft|stepright;
 cal_speed_r();
    
 TCNT2 = time_r; //reload counter value
}

void start_motor()
{      
    // limit speed
 old_speed_limit = speed_limit = SPEED_HIGH;
         
    // start speed 
    acc_index_l = SPEED_START;  
    acc_index_r = SPEED_START;
  time_l = acc_table[acc_index_l];
  time_r = acc_table[acc_index_r];
  
 TCNT0 = time_l;   // register high byte
   TCNT2 = time_r;   // register high byte
 TCCR0 = 0x04; //start timer, 256 prescale
 TCCR2 = 0x06; //start timer, 256 prescale
  TIMSK = 0x41; //timer interrupt sources 
}

void set_dir(byte _forward)
{
 if(old_robot_forward!=_forward)
 {
  old_speed_limit = speed_limit;
  speed_limit = 15; 
  while(!(acc_index_r==speed_limit)&&!(acc_index_l==speed_limit)); 

  robot_forward = _forward; 
  speed_limit = old_speed_limit;
 }
  
 old_robot_forward = robot_forward; 
}

void main(void)
{
 byte stepleft=0, stepright=0;
 init_devices();
 MOTOR_PORT = 0x00;
 
 old_robot_forward = robot_forward = 1;
 speed_limit = SPEED_HIGH;
  
 delay_ms(10);
 start_motor();
 
 while(1)
 {
  
  set_dir(1);
  delay_ms(3000);
  set_dir(0);
  delay_ms(3000);
  
 
 }
}

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